Merge remote-tracking branch 'upstream' into 233-scrape-examples-2

CHANGELOG.md

@@ -21,7 +21,7 @@
 - Rename `Shape::clone_box` to `Shape::clone_dyn` (the `clone_box` method still exists but has been
   deprecated).
 - Make `try_convex_hull` return an error instead of panicking if less than 3 input points are given.
-- Make `Triangle::normal` and `Triangle::scaled_normal` only available in 3D insead of panicking in 2D.
+- Make `Triangle::normal` and `Triangle::scaled_normal` only available in 3D instead of panicking in 2D.
 
 ## v0.16.1
 

Cargo.toml

@@ -2,6 +2,13 @@
 members = ["crates/parry2d", "crates/parry3d", "crates/parry2d-f64", "crates/parry3d-f64"]
 resolver = "2"
 
+[workspace.lints]
+rust.unexpected_cfgs = { level = "warn", check-cfg = [
+    'cfg(feature, values("dim2", "dim3", "f32", "f64"))',
+    # "wavefront" is only used for 3D crates.
+    'cfg(feature, values("wavefront"))',
+] }
+
 [patch.crates-io]
 parry2d = { path = "crates/parry2d" }
 parry3d = { path = "crates/parry3d" }

crates/parry2d-f64/Cargo.toml

@@ -16,6 +16,9 @@ edition = "2021"
 [badges]
 maintenance = { status = "actively-developed" }
 
+[lints]
+workspace = true
+
 [features]
 default = ["required-features", "std"]
 required-features = ["dim2", "f64"]
@@ -46,6 +49,8 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+alloc = []
+improved_fixed_point_support = []
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.

crates/parry2d/Cargo.toml

@@ -16,6 +16,9 @@ edition = "2021"
 [badges]
 maintenance = { status = "actively-developed" }
 
+[lints]
+workspace = true
+
 [features]
 default = ["required-features", "std"]
 required-features = ["dim2", "f32"]
@@ -46,6 +49,8 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+alloc = []
+improved_fixed_point_support = []
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.

crates/parry3d-f64/Cargo.toml

@@ -16,6 +16,9 @@ edition = "2021"
 [badges]
 maintenance = { status = "actively-developed" }
 
+[lints]
+workspace = true
+
 [features]
 default = ["required-features", "std"]
 required-features = ["dim3", "f64"]
@@ -42,6 +45,8 @@ simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
 wavefront = ["obj"]
+alloc = []
+improved_fixed_point_support = []
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.

crates/parry3d/Cargo.toml

@@ -16,6 +16,9 @@ edition = "2021"
 [badges]
 maintenance = { status = "actively-developed" }
 
+[lints]
+workspace = true
+
 [features]
 default = ["required-features", "std"]
 required-features = ["dim3", "f32"]
@@ -42,6 +45,9 @@ simd-stable = ["simba/wide", "simd-is-enabled"]
 simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
 enhanced-determinism = ["simba/libm_force", "indexmap"]
 parallel = ["rayon"]
+wavefront = ["obj"]
+alloc = []
+improved_fixed_point_support = []
 
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
@@ -76,6 +82,7 @@ log = "0.4"
 ordered-float = { version = "4", default-features = false }
 thiserror = { version = "1", optional = true }
 rstar = "0.12.0"
+obj = { version = "0.10.2", optional = true }
 
 [dev-dependencies]
 oorandom = "11"

src/bounding_volume/aabb.rs

@@ -90,7 +90,7 @@ impl Aabb {
     /// # Arguments:
     ///   * `mins` - position of the point with the smallest coordinates.
     ///   * `maxs` - position of the point with the highest coordinates. Each component of `mins`
-    ///   must be smaller than the related components of `maxs`.
+    ///     must be smaller than the related components of `maxs`.
     #[inline]
     pub fn new(mins: Point<Real>, maxs: Point<Real>) -> Aabb {
         Aabb { mins, maxs }

src/query/gjk/gjk.rs

@@ -76,10 +76,10 @@ pub fn project_origin<G: ?Sized + SupportMap>(
 /// * simplex - the simplex to be used by the GJK algorithm. It must be already initialized
 ///             with at least one point on the shape boundary.
 /// * exact_dist - if `false`, the gjk will stop as soon as it can prove that the origin is at
-/// a distance smaller than `max_dist` but not inside of `shape`. In that case, it returns a
-/// `GJKResult::Proximity(sep_axis)` where `sep_axis` is a separating axis. If `false` the gjk will
-/// compute the exact distance and return `GJKResult::Projection(point)` if the origin is closer
-/// than `max_dist` but not inside `shape`.
+///   a distance smaller than `max_dist` but not inside of `shape`. In that case, it returns a
+///   `GJKResult::Proximity(sep_axis)` where `sep_axis` is a separating axis. If `false` the gjk will
+///   compute the exact distance and return `GJKResult::Projection(point)` if the origin is closer
+///   than `max_dist` but not inside `shape`.
 pub fn closest_points<G1, G2>(
     pos12: &Isometry<Real>,
     g1: &G1,

src/shape/polyline.rs

@@ -218,6 +218,7 @@ impl Polyline {
     ///   `num_indices == self.indices.len()`.
     /// - This polyline is oriented counter-clockwise.
     /// - In 3D, the polyline is assumed to be fully coplanar, on a plane with normal given by
+    ///
     /// These properties are not checked.
     pub fn project_local_point_assuming_solid_interior_ccw(
         &self,

src/utils/hashmap.rs

@@ -7,6 +7,8 @@ use indexmap::IndexMap as StdHashMap;
 use std::collections::HashMap as StdHashMap;
 use std::mem::size_of;
 
+use std::mem::size_of;
+
 /// Serializes only the capacity of a hash-map instead of its actual content.
 #[cfg(feature = "serde-serialize")]
 pub fn serialize_hashmap_capacity<S: serde::Serializer, K, V, H: std::hash::BuildHasher>(